X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fsensorboard%2Fmain.h;fp=projects%2Fmicrob2010%2Fsensorboard%2Fmain.h;h=0000000000000000000000000000000000000000;hp=3a4ff83c62166dcf4aa4b8f16efcd518c06f409b;hb=8d6a47e9e21a9a31f4bc12d32fb3d11091a4b305;hpb=821f753c0f88aff895d9feae59c442a6c446f96b

diff --git a/projects/microb2010/sensorboard/main.h b/projects/microb2010/sensorboard/main.h
deleted file mode 100755
index 3a4ff83..0000000
--- a/projects/microb2010/sensorboard/main.h
+++ /dev/null
@@ -1,154 +0,0 @@
-/*  
- *  Copyright Droids Corporation (2009)
- * 
- *  This program is free software; you can redistribute it and/or modify
- *  it under the terms of the GNU General Public License as published by
- *  the Free Software Foundation; either version 2 of the License, or
- *  (at your option) any later version.
- *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
- *
- *  You should have received a copy of the GNU General Public License
- *  along with this program; if not, write to the Free Software
- *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
- *
- *  Revision : $Id: main.h,v 1.4 2009-05-27 20:04:07 zer0 Exp $
- *
- */
-
-#define LED_TOGGLE(port, bit) do {		\
-		if (port & _BV(bit))		\
-			port &= ~_BV(bit);	\
-		else				\
-			port |= _BV(bit);	\
-	} while(0)
-
-#define LED1_ON() 	sbi(PORTJ, 2)
-#define LED1_OFF() 	cbi(PORTJ, 2)
-#define LED1_TOGGLE() 	LED_TOGGLE(PORTJ, 2)
-
-#define LED2_ON() 	sbi(PORTL, 7)
-#define LED2_OFF() 	cbi(PORTL, 7)
-#define LED2_TOGGLE() 	LED_TOGGLE(PORTL, 7)
-
-#define LED3_ON() 	sbi(PORTJ, 3)
-#define LED3_OFF() 	cbi(PORTJ, 3)
-#define LED3_TOGGLE() 	LED_TOGGLE(PORTJ, 3)
-
-#define LED4_ON() 	sbi(PORTL, 6)
-#define LED4_OFF() 	cbi(PORTL, 6)
-#define LED4_TOGGLE() 	LED_TOGGLE(PORTL, 6)
-
-#define BRAKE_DDR()     do { DDRJ |= 0xF0; } while(0)
-#define BRAKE_ON()      do { PORTJ |= 0xF0; } while(0)
-#define BRAKE_OFF()     do { PORTJ &= 0x0F; } while(0)
-
-#define BEACON_ENCODER        ((void *)0)
-#define SCANNER_ENCODER       ((void *)1)
-
-#define BEACON_PWM            ((void *)&gen.pwm1_4A)
-#define SCANNER_PWM           ((void *)&gen.pwm2_4B)
-#define PICKUP_WHEEL_L_PWM    ((void *)&gen.pwm3_1A)
-#define PICKUP_WHEEL_R_PWM    ((void *)&gen.pwm4_1B)
-
-#define BEACON_POS_SENSOR  2
-#define SCANNER_POS_SENSOR 7
-#define SCANNER_MAXCOLUMN_SENSOR 1
-
-
-
-#define SCANNER_POS_OUT 179
-#define SCANNER_POS_CALIBRE 370
-#define SCANNER_POS_IN 400
-
-
-/** ERROR NUMS */
-#define E_USER_I2C_PROTO       195
-#define E_USER_SENSOR          196
-#define E_USER_BEACON          197
-#define E_USER_SCANNER         198
-#define E_USER_IMGPROCESS      199
-
-#define LED_PRIO           170
-#define TIME_PRIO          160
-#define ADC_PRIO           120
-#define CS_PRIO            100
-#define BEACON_PRIO	    80
-#define I2C_POLL_PRIO       20
-
-#define CS_PERIOD 5000L
-
-#define NB_LOGS 4
-
-/* generic to all boards */
-struct genboard {
-	/* command line interface */
-	struct rdline rdl;
-	char prompt[RDLINE_PROMPT_SIZE];
-
-	/* motors */
-	struct pwm_ng pwm1_4A;
-	struct pwm_ng pwm2_4B;
-	struct pwm_ng pwm3_1A;
-	struct pwm_ng pwm4_1B;
-
-	/* servos */
-	struct pwm_ng servo1;
-	struct pwm_ng servo2;
-	struct pwm_ng servo3;
-	struct pwm_ng servo4;
-	
-	/* ax12 interface */
-	AX12 ax12;
-
-	/* log */
-	uint8_t logs[NB_LOGS+1];
-	uint8_t log_level;
-	uint8_t debug;
-};
-
-struct cs_block {
-	uint8_t on;
-        struct cs cs;
-        struct pid_filter pid;
-	struct quadramp_filter qr;
-	struct blocking_detection bd;
-};
-
-/* sensorboard specific */
-struct sensorboard {
-#define DO_ENCODERS  1
-#define DO_CS        2
-#define DO_BD        4
-#define DO_POWER     8
-	uint8_t flags;                /* misc flags */
-
-	/* control systems */
-        struct cs_block beacon;
-        struct cs_block scanner;
-
-	/* robot status */
-	uint8_t our_color;
-};
-
-extern struct genboard gen;
-extern struct sensorboard sensorboard;
-
-/* start the bootloader */
-void bootloader(void);
-
-#define wait_cond_or_timeout(cond, timeout)                   \
-({                                                            \
-        microseconds __us = time_get_us2();                   \
-        uint8_t __ret = 1;                                    \
-        while(! (cond)) {                                     \
-                if (time_get_us2() - __us > (timeout)*1000L) {\
-                        __ret = 0;                            \
-                        break;                                \
-                }                                             \
-        }                                                     \
-        __ret;                                                \
-})